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公开(公告)号：US09977975B2
公开(公告)日：2018-05-22
申请号：US15240112
申请日：2016-08-18
发明人： Xue Mei , Katsuhiro Sakai , Danil V. Prokhorov , Michael J. Delp
CPC分类号： G06K9/00825 , G06K9/2063 , G06K9/623 , G06K9/6262 , G06K9/627 , G06K9/6277 , G06T7/90
摘要： Described herein is a device for traffic light detection. The device comprises a memory and a traffic light detection module. The memory may store information, the information comprising first traffic light data of a first traffic light and second traffic light data of a second traffic light. The traffic light detection module may receive an image comprising a first candidate and a second candidate; determine a first region of interest based, at least in part, on the first traffic light data, the first region of interest comprising the first candidate; determine a second region of interest based, at least in part, on the second traffic light data, the second region of interest comprising the second candidate; and determine a confidence score for a first state of the first candidate, the confidence score based, at least in part, on a spatial relationship factor between the first candidate and the second candidate.
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公开(公告)号：US09910442B2
公开(公告)日：2018-03-06
申请号：US15195770
申请日：2016-06-28
发明人： Nobuhide Kamata , Xue Mei , Katsuhiro Sakai
CPC分类号： G05D1/0214 , G01S13/931 , G01S15/93 , G01S15/931 , G01S17/026 , G01S17/58 , G01S17/93 , G01S17/936 , G01S2013/9364 , G01S2013/9367 , G05D1/0088 , G05D1/024 , G05D1/0255 , G05D1/0257 , G05D1/0274
摘要： Ray tracing and static obstacle maps can be used in the operation of a vehicle. Sensor data of at least a portion of an external environment of the vehicle can be acquired. A dynamic obstacle in the external environment of the vehicle can be detected based on the acquired sensor data. In response to detecting a dynamic obstacle, it can be determined whether a secondary occluded area is located behind the dynamic obstacle relative to a current location of the vehicle based on a static obstacle map. Responsive to determining that a secondary occluded area is located behind the dynamic obstacle relative to a current location of the vehicle based on a static obstacle map, a driving maneuver for the vehicle can be determined based on at least the dynamic obstacle and the secondary occluded area. The vehicle can be caused to implement the determined driving maneuver.
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公开(公告)号：US20160221500A1
公开(公告)日：2016-08-04
申请号：US14609273
申请日：2015-01-29
发明人： Katsuhiro Sakai , Danil V. Prokhorov , Bunyo Okumura , Naoki Nagasaka , Masahiro Harada , Nobuhide Kamata
CPC分类号： G05D1/0223 , B60Q9/008 , B60W30/00 , B60W30/09 , B60W40/00 , B60W50/0097 , B60W50/0098 , B60W50/14 , B60W2050/143 , B60W2050/146 , B60W2420/42 , B60W2510/101 , B60W2510/18 , B60W2510/20 , B60W2520/04 , B60W2550/10 , B60W2710/1005 , B60W2710/18 , B60W2710/20 , G05D1/0088 , G05D2201/0212 , G06K9/00805 , G06K9/00832 , G08G1/165 , G08G1/166
摘要： Arrangements related to operating an autonomous vehicle in view-obstructed environments are described. At least a portion of an external environment of the autonomous vehicle can be sensed to detect one or more objects located therein. An occupant viewable area of the external environment can be determined. It can be determined whether one or more of the detected one or more objects is located outside of the determined occupant viewable area. Responsive to determining that a detected object is located outside of the determined occupant viewable area, one or more actions can be taken. For instance, the action can include presenting an alert within the autonomous vehicle. Alternatively or in addition, the action can include causing a current driving action of the autonomous vehicle to be modified.
摘要翻译： 描述了在观看障碍环境中操作自主车辆的安排。 可以感测到自主车辆的外部环境的至少一部分以检测位于其中的一个或多个物体。 可以确定外部环境的乘员可视区域。 可以确定所检测到的一个或多个对象中的一个或多个是否位于确定的乘员可见区域之外。 响应于确定检测到的对象位于确定的乘员可见区域之外，可以采取一个或多个动作。 例如，该动作可以包括在自主车辆内呈现警报。 或者或另外，该动作可以包括引起自主车辆的当前驾驶动作被修改。
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公开(公告)号：US20170369051A1
公开(公告)日：2017-12-28
申请号：US15195760
申请日：2016-06-28
发明人： Katsuhiro Sakai , Xue Mei , Nobuhide Kamata
CPC分类号： B60W30/09 , B60W10/04 , B60W10/18 , B60W10/20 , B60W30/18 , B60W2420/52 , B60W2550/10 , B60W2710/18 , B60W2710/20 , B60W2720/00 , B60W2720/10 , G01S7/003 , G01S7/4802 , G01S17/66 , G01S17/89 , G01S17/936 , G05D1/0088 , G05D1/024 , G06K9/00805 , G06K9/3241 , G06K9/6201
摘要： Obstacles located in an external environment of a vehicle can be classified. At least a portion of the external environment can be sensed using one or more sensors to acquire sensor data. An obstacle candidate can be identified based on the acquired sensor data. An occlusion status for the identified obstacle candidate can be determined. The occlusion status can be a ratio of acquired sensor data for the obstacle candidate that is occluded to all acquired sensor data for the obstacle candidate. A classification for the obstacle candidate can be determined based on the determined occlusion status. A driving maneuver for the vehicle can be determined at least partially based on the determined classification for the obstacle candidate. The vehicle can be caused to implement the determined driving maneuver. The vehicle can be an autonomous vehicle.
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公开(公告)号：US20180341019A1
公开(公告)日：2018-11-29
申请号：US15606573
申请日：2017-05-26
摘要： Systems and methods for publishing LIDAR cluster data are described. The vehicle can identify one or more clusters based on data from the LIDAR sensor. The identified one or more clusters can be representative of at least one object in an external environment of the vehicle. Additionally, the vehicle can publish the identified one or more clusters before the LIDAR sensor completes a full 360 degree rotation about the axis of rotation.
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公开(公告)号：US10137890B2
公开(公告)日：2018-11-27
申请号：US15195760
申请日：2016-06-28
发明人： Katsuhiro Sakai , Xue Mei , Nobuhide Kamata
摘要： Obstacles located in an external environment of a vehicle can be classified. At least a portion of the external environment can be sensed using one or more sensors to acquire sensor data. An obstacle candidate can be identified based on the acquired sensor data. An occlusion status for the identified obstacle candidate can be determined. The occlusion status can be a ratio of acquired sensor data for the obstacle candidate that is occluded to all acquired sensor data for the obstacle candidate. A classification for the obstacle candidate can be determined based on the determined occlusion status. A driving maneuver for the vehicle can be determined at least partially based on the determined classification for the obstacle candidate. The vehicle can be caused to implement the determined driving maneuver. The vehicle can be an autonomous vehicle.
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公开(公告)号：US20180053059A1
公开(公告)日：2018-02-22
申请号：US15240112
申请日：2016-08-18
发明人： Xue Mei , Katsuhiro Sakai , Danil V. Prokhorov , Michael J. Delp
CPC分类号： G06K9/00825 , G06K9/2063 , G06K9/623 , G06K9/6262 , G06K9/627 , G06K9/6277 , G06T7/90
摘要： Described herein is a device for traffic light detection. The device comprises a memory and a traffic light detection module. The memory may store information, the information comprising first traffic light data of a first traffic light and second traffic light data of a second traffic light. The traffic light detection module may receive an image comprising a first candidate and a second candidate; determine a first region of interest based, at least in part, on the first traffic light data, the first region of interest comprising the first candidate; determine a second region of interest based, at least in part, on the second traffic light data, the second region of interest comprising the second candidate; and determine a confidence score for a first state of the first candidate, the confidence score based, at least in part, on a spatial relationship factor between the first candidate and the second candidate.
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公开(公告)号：US09884631B2
公开(公告)日：2018-02-06
申请号：US14730570
申请日：2015-06-04
CPC分类号： B60W50/082 , B60R11/04 , B60W40/08 , B60W50/14 , B60W50/16 , B60W2040/0818 , B60W2050/143 , B60W2050/146 , B60W2420/42 , B60W2540/04 , B60W2550/402
摘要： Arrangements relating to the transitioning of a vehicle between operational modes are described. The vehicle can transition between a first operational mode and a second operational mode. The second operational mode has a greater degree of manual involvement than the first operational mode. For instance, the first operational mode can be an unmonitored autonomous operational mode, and the second operational mode can be a monitored autonomous operational mode or a manual operational mode. It can be determined whether an operational mode transition event has occurred while the vehicle is operating in the first operational mode. In response to determining that an operational mode transition event has occurred, a time buffer for continuing in the first operational mode before switching to the second operational mode can be determined. A transition alert can be presented within the vehicle. The transition alert can represent the determined time buffer.
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公开(公告)号：US20170371346A1
公开(公告)日：2017-12-28
申请号：US15195744
申请日：2016-06-28
发明人： Xue Mei , Katsuhiro Sakai , Nobuhide Kamata
IPC分类号： G05D1/02
CPC分类号： G05D1/0274 , G01S7/003 , G01S7/4802 , G01S17/026 , G01S17/42 , G01S17/936 , G05D1/024 , G05D2201/0213
摘要： Ray tracing can be used to detect hidden obstacles in an external environment of a vehicle. An outbound sensor signal can be transmitted into an external environment of the vehicle. The outbound sensor signal can be a LIDAR sensor signal. If a return sensor signal is not received for the outbound sensor signal, it can be determined whether an obstacle is located along a projected path of the outbound sensor signal. Such a determination can be made using one or more maps, such as a terrain map and/or a static obstacle map. Responsive to determining that an obstacle is located along the projected path of the outbound sensor signal, a driving maneuver for the vehicle relative to the obstacle can be determined. The vehicle can be caused to implement the determined driving maneuver.
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公开(公告)号：US10663584B2
公开(公告)日：2020-05-26
申请号：US15606573
申请日：2017-05-26
摘要： Systems and methods for publishing LIDAR cluster data are described. The vehicle can identify one or more clusters based on data from the LIDAR sensor. The identified one or more clusters can be representative of at least one object in an external environment of the vehicle. Additionally, the vehicle can publish the identified one or more clusters before the LIDAR sensor completes a full 360 degree rotation about the axis of rotation.
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